Merged global/local waypoints into one.

.gitignore

 *Makefile*
+tags
 build
 Info.plist
 obj

qgroundcontrol.pro

@@ -134,8 +134,8 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/QGCFirmwareUpdate.ui \
     src/ui/QGCPxImuFirmwareUpdate.ui \
     src/ui/QGCDataPlot2D.ui \
-    src/ui/QGCRemoteControlView.ui \
-    src/ui/WaypointGlobalView.ui
+    src/ui/QGCRemoteControlView.ui
+    #src/ui/WaypointGlobalView.ui
 INCLUDEPATH += src \
     src/ui \
     src/ui/linechart \
@@ -202,7 +202,7 @@ HEADERS += src/MG.h \
     src/ui/linechart/Linecharts.h \
     src/uas/SlugsMAV.h \
     src/uas/PxQuadMAV.h \
-    src/uas/ArduPilotMAV.h \
+    src/uas/ArduPilotMegaMAV.h \
     src/comm/MAVLinkSyntaxHighlighter.h \
     src/ui/watchdog/WatchdogControl.h \
     src/ui/watchdog/WatchdogProcessView.h \
@@ -218,7 +218,7 @@ HEADERS += src/MG.h \
     src/ui/map/Waypoint2DIcon.h \
     src/ui/map/MAV2DIcon.h \
     src/ui/QGCRemoteControlView.h \
-    src/ui/WaypointGlobalView.h \
+    #src/ui/WaypointGlobalView.h \
     src/ui/RadioCalibration/RadioCalibrationData.h \
     src/ui/RadioCalibration/RadioCalibrationWindow.h \
     src/ui/RadioCalibration/AirfoilServoCalibrator.h \
@@ -282,7 +282,7 @@ SOURCES += src/main.cc \
     src/ui/linechart/Linecharts.cc \
     src/uas/SlugsMAV.cc \
     src/uas/PxQuadMAV.cc \
-    src/uas/ArduPilotMAV.cc \
+    src/uas/ArduPilotMegaMAV.cc \
     src/comm/MAVLinkSyntaxHighlighter.cc \
     src/ui/watchdog/WatchdogControl.cc \
     src/ui/watchdog/WatchdogProcessView.cc \
@@ -304,7 +304,7 @@ SOURCES += src/main.cc \
     src/ui/RadioCalibration/CurveCalibrator.cc \
     src/ui/RadioCalibration/AbstractCalibrator.cc \
     src/ui/RadioCalibration/RadioCalibrationData.cc \
-    src/ui/WaypointGlobalView.cc \
+    #src/ui/WaypointGlobalView.cc \
     src/ui/map3D/Q3DWidget.cc \
     src/ui/map3D/CheetahModel.cc \
     src/ui/map3D/CheetahGL.cc \

src/Waypoint.cc

@@ -33,7 +33,8 @@ This file is part of the QGROUNDCONTROL project
 #include "Waypoint.h"
 #include <QStringList>
 
-Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _autocontinue, bool _current, float _orbit, int _holdTime)
+Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _autocontinue, bool _current, float _orbit, int _holdTime,
+                   MAV_FRAME _frame, MAV_ACTION _action)
 : id(_id),
   x(_x),
   y(_y),
@@ -42,7 +43,9 @@ Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _
   autocontinue(_autocontinue),
   current(_current),
   orbit(_orbit),
-  holdTime(_holdTime)
+  holdTime(_holdTime),
+  frame(_frame),
+  action(_action)
 {
 }
 
@@ -100,9 +103,14 @@ void Waypoint::setYaw(float yaw)
     this->yaw = yaw;
 }
 
-void Waypoint::setType(type_enum type)
+void Waypoint::setAction(MAV_ACTION action)
 {
-    this->type = type;
+    this->action = action;
+}
+
+void Waypoint::setFrame(MAV_FRAME frame)
+{
+    this->frame = frame;
 }
 
 void Waypoint::setAutocontinue(bool autoContinue)

src/Waypoint.h

@@ -36,14 +36,16 @@ This file is part of the PIXHAWK project
 #include <QObject>
 #include <QString>
 #include <QTextStream>
-#include <inttypes.h>
+#include "mavlink_types.h"
 
 class Waypoint : public QObject
 {
     Q_OBJECT
 
 public:
-    Waypoint(quint16 id = 0, float x = 0.0f, float y = 0.0f, float z = 0.0f, float yaw = 0.0f, bool autocontinue = false, bool current = false, float orbit = 0.1f, int holdTime = 2000);
+    Waypoint(quint16 id = 0, float x = 0.0f, float y = 0.0f, float z = 0.0f, float yaw = 0.0f, bool autocontinue = false,
+             bool current = false, float orbit = 0.1f, int holdTime = 2000,
+             MAV_FRAME frame=MAV_FRAME_GLOBAL, MAV_ACTION action=MAV_ACTION_NAVIGATE);
     ~Waypoint();
 
     quint16 getId() const { return id; }
@@ -55,26 +57,20 @@ public:
     bool getCurrent() const { return current; }
     float getOrbit() const { return orbit; }
     float getHoldTime() const { return holdTime; }
+    MAV_FRAME getFrame() const { return frame; }
+    MAV_ACTION getAction() const { return action; }
 
     void save(QTextStream &saveStream);
     bool load(QTextStream &loadStream);
 
-    enum type_enum
-    {
-        GLOBAL = 0,
-        LOCAL = 1,
-        GLOBAL_ORBIT = 2,
-        LOCAL_ORBIT = 3
-    };
-
-
 protected:
     quint16 id;
     float x;
     float y;
     float z;
     float yaw;
-    type_enum type;
+    MAV_FRAME frame;
+    MAV_ACTION action;
     bool autocontinue;
     bool current;
     float orbit;
@@ -86,7 +82,8 @@ public slots:
     void setY(float y);
     void setZ(float z);
     void setYaw(float yaw);
-    void setType(type_enum type);
+    void setAction(MAV_ACTION action);
+    void setFrame(MAV_FRAME frame);
     void setAutocontinue(bool autoContinue);
     void setCurrent(bool current);
     void setOrbit(float orbit);

src/comm/MAVLinkLightProtocol.cc

@@ -29,7 +29,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include "MAVLinkLightProtocol.h"
 #include "UASManager.h"
-#include "ArduPilotMAV.h"
+#include "ArduPilotMegaMAV.h"
 #include "LinkManager.h"
 
 MAVLinkLightProtocol::MAVLinkLightProtocol() :
@@ -113,7 +113,7 @@ void MAVLinkLightProtocol::receiveBytes(LinkInterface* link, QByteArray b)
 //            // Check and (if necessary) create UAS object
 //            if (uas == NULL)
 //            {
-//                ArduPilotMAV* mav = new ArduPilotMAV(this, sysid); // FIXME change to msg.sysid if this field exists
+//                ArduPilotMegaMAV* mav = new ArduPilotMAV(this, sysid); // FIXME change to msg.sysid if this field exists
 //                // Connect this robot to the UAS object
 //                // it is IMPORTANT here to use the right object type,
 //                // else the slot of the parent object is called (and thus the special

src/comm/MAVLinkProtocol.cc

@@ -42,7 +42,7 @@ This file is part of the QGROUNDCONTROL project
 #include "UAS.h"
 #include "SlugsMAV.h"
 #include "PxQuadMAV.h"
-#include "ArduPilotMAV.h"
+#include "ArduPilotMegaMAV.h"
 #include "configuration.h"
 #include "LinkManager.h"
 #include <QGCMAVLink.h>
@@ -186,9 +186,9 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                     uas = mav;
                 }
                     break;
-                case MAV_AUTOPILOT_ARDUPILOT:
+                case MAV_AUTOPILOT_ARDUPILOTMEGA:
                     {
-                    ArduPilotMAV* mav = new ArduPilotMAV(this, message.sysid);
+                    ArduPilotMegaMAV* mav = new ArduPilotMegaMAV(this, message.sysid);
                     // Connect this robot to the UAS object
                     // it is IMPORTANT here to use the right object type,
                     // else the slot of the parent object is called (and thus the special

src/uas/ArduPilotMAV.cc → src/uas/ArduPilotMegaMAV.cc

@@ -27,9 +27,9 @@ This file is part of the QGROUNDCONTROL project
  *   @author Your Name here
  */
 
-#include "ArduPilotMAV.h"
+#include "ArduPilotMegaMAV.h"
 
-ArduPilotMAV::ArduPilotMAV(MAVLinkProtocol* mavlink, int id) :
+ArduPilotMegaMAV::ArduPilotMegaMAV(MAVLinkProtocol* mavlink, int id) :
         UAS(mavlink, id)//,
         // place other initializers here
 {
@@ -43,7 +43,7 @@ ArduPilotMAV::ArduPilotMAV(MAVLinkProtocol* mavlink, int id) :
  *             messages can be sent back to the system via this link
  * @param message MAVLink message, as received from the MAVLink protocol stack
  */
-void ArduPilotMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
+void ArduPilotMegaMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 {
     // Let UAS handle the default message set
     UAS::receiveMessage(link, message);

src/uas/ArduPilotMAV.h → src/uas/ArduPilotMegaMAV.h

@@ -21,16 +21,16 @@ This file is part of the QGROUNDCONTROL project
 
 ======================================================================*/
 
-#ifndef ARDUPILOTMAV_H
-#define ARDUPILOTMAV_H
+#ifndef ARDUPILOTMEGAMAV_H
+#define ARDUPILOTMEGAMAV_H
 
 #include "UAS.h"
 
-class ArduPilotMAV : public UAS
+class ArduPilotMegaMAV : public UAS
 {
     Q_OBJECT
 public:
-    ArduPilotMAV(MAVLinkProtocol* mavlink, int id = 0);
+    ArduPilotMegaMAV(MAVLinkProtocol* mavlink, int id = 0);
 public slots:
     /** @brief Receive a MAVLink message from this MAV */
     void receiveMessage(LinkInterface* link, mavlink_message_t message);

src/uas/UASWaypointManager.cc

@@ -132,7 +132,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
         if(wp->seq == current_wp_id)
         {
             Waypoint *lwp = new Waypoint(wp->seq, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue, wp->current, wp->param1, wp->param2);
-            localAddWaypoint(lwp);
+            addWaypoint(lwp);
 
             //get next waypoint
             current_wp_id++;
@@ -288,7 +288,7 @@ int UASWaypointManager::setCurrentWaypoint(quint16 seq)
     return -1;
 }
 
-void UASWaypointManager::localAddWaypoint(Waypoint *wp)
+void UASWaypointManager::addWaypoint(Waypoint *wp)
 {
     if (wp)
     {
@@ -298,7 +298,7 @@ void UASWaypointManager::localAddWaypoint(Waypoint *wp)
     }
 }
 
-int UASWaypointManager::localRemoveWaypoint(quint16 seq)
+int UASWaypointManager::removeWaypoint(quint16 seq)
 {
     if (seq < waypoints.size())
     {
@@ -316,7 +316,7 @@ int UASWaypointManager::localRemoveWaypoint(quint16 seq)
     return -1;
 }
 
-void UASWaypointManager::localMoveWaypoint(quint16 cur_seq, quint16 new_seq)
+void UASWaypointManager::moveWaypoint(quint16 cur_seq, quint16 new_seq)
 {
     if (cur_seq != new_seq && cur_seq < waypoints.size() && new_seq < waypoints.size())
     {
@@ -344,7 +344,7 @@ void UASWaypointManager::localMoveWaypoint(quint16 cur_seq, quint16 new_seq)
     }
 }
 
-void UASWaypointManager::localSaveWaypoints(const QString &saveFile)
+void UASWaypointManager::saveWaypoints(const QString &saveFile)
 {
     QFile file(saveFile);
     if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
@@ -358,7 +358,7 @@ void UASWaypointManager::localSaveWaypoints(const QString &saveFile)
     file.close();
 }
 
-void UASWaypointManager::localLoadWaypoints(const QString &loadFile)
+void UASWaypointManager::loadWaypoints(const QString &loadFile)
 {
     QFile file(loadFile);
     if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
@@ -386,16 +386,6 @@ void UASWaypointManager::localLoadWaypoints(const QString &loadFile)
     emit waypointListChanged();
 }
 
-void UASWaypointManager::globalAddWaypoint(Waypoint *wp)
-{
-
-}
-
-int UASWaypointManager::globalRemoveWaypoint(quint16 seq)
-{
-    return 0;
-}
-
 void UASWaypointManager::clearWaypointList()
 {
     if(current_state == WP_IDLE)
@@ -474,8 +464,8 @@ void UASWaypointManager::writeWaypoints()
                 cur_d->orbit_direction = 0;
                 cur_d->param1 = cur_s->getOrbit();
                 cur_d->param2 = cur_s->getHoldTime();
-                // TODO: Replace this value depending on the type of waypoint
-                cur_d->type = 1;    //FIXME: we only use local waypoints at the moment
+                cur_d->frame = cur_s->getFrame();
+                cur_d->action = cur_s->getAction();
                 cur_d->seq = i;     // don't read out the sequence number of the waypoint class
                 cur_d->x = cur_s->getX();
                 cur_d->y = cur_s->getY();

src/uas/UASWaypointManager.h

@@ -79,25 +79,18 @@ public:
     /*@{*/
     void clearWaypointList();                       ///< Sends the waypoint clear all message to the MAV
     void readWaypoints();                           ///< Requests the MAV's current waypoint list
-    void writeWaypoints();                          ///< Sends the local waypoint list to the MAV
+    void writeWaypoints();                          ///< Sends the waypoint list to the MAV
     int setCurrentWaypoint(quint16 seq);            ///< Changes the current waypoint and sends the sequence number of the waypoint that should get the new target waypoint to the UAS
     /*@}*/
 
-    /** @name Local waypoint list operations */
+    /** @name Waypoint list operations */
     /*@{*/
-    const QVector<Waypoint *> &getWaypointList(void) { return waypoints; }  ///< Returns a const reference to the local waypoint list.
-    void localAddWaypoint(Waypoint *wp);                        ///< locally adds a new waypoint to the end of the list and changes its sequence number accordingly
-    int localRemoveWaypoint(quint16 seq);                       ///< locally remove the specified waypoint from the storage
-    void localMoveWaypoint(quint16 cur_seq, quint16 new_seq);   ///< locally move a waypoint from its current position cur_seq to a new position new_seq
-    void localSaveWaypoints(const QString &saveFile);           ///< saves the local waypoint list to saveFile
-    void localLoadWaypoints(const QString &loadFile);           ///< loads a waypoint list from loadFile
-    /*@}*/
-
-    /** @name Global waypoint list operations */
-    /*@{*/
-    const QVector<Waypoint *> &getGlobalWaypointList(void) { return waypoints; }  ///< Returns a const reference to the global waypoint list.
-    void globalAddWaypoint(Waypoint *wp);                        ///< locally adds a new waypoint to the end of the list and changes its sequence number accordingly
-    int globalRemoveWaypoint(quint16 seq);                       ///< locally remove the specified waypoint from the storage
+    const QVector<Waypoint *> &getWaypointList(void) { return waypoints; }  ///< Returns a const reference to the waypoint list.
+    void addWaypoint(Waypoint *wp);                        ///< adds a new waypoint to the end of the list and changes its sequence number accordingly
+    int removeWaypoint(quint16 seq);                       ///< locally remove the specified waypoint from the storage
+    void moveWaypoint(quint16 cur_seq, quint16 new_seq);   ///< locally move a waypoint from its current position cur_seq to a new position new_seq
+    void saveWaypoints(const QString &saveFile);           ///< saves the local waypoint list to saveFile
+    void loadWaypoints(const QString &loadFile);           ///< loads a waypoint list from loadFile
     /*@}*/
 
 private:

src/ui/MainWindow.cc

@@ -206,13 +206,13 @@ void MainWindow::connectWidgets()
         // add Waypoint widget in the WaypointList widget when mouse clicked
         connect(mapWidget, SIGNAL(captureMapCoordinateClick(QPointF)), waypointsDockWidget->widget(), SLOT(addWaypointMouse(QPointF)));
         // it notifies that a waypoint global goes to do create
-        connect(mapWidget, SIGNAL(createGlobalWP(bool, QPointF)), waypointsDockWidget->widget(), SLOT(setIsWPGlobal(bool, QPointF)));
-        connect(mapWidget, SIGNAL(sendGeometryEndDrag(QPointF,int)), waypointsDockWidget->widget(), SLOT(waypointGlobalChanged(QPointF,int)) );
+        //connect(mapWidget, SIGNAL(createGlobalWP(bool, QPointF)), waypointsDockWidget->widget(), SLOT(setIsWPGlobal(bool, QPointF)));
+        //connect(mapWidget, SIGNAL(sendGeometryEndDrag(QPointF,int)), waypointsDockWidget->widget(), SLOT(waypointGlobalChanged(QPointF,int)) );
 
         // it notifies that a waypoint global goes to do create and a map graphic too
         connect(waypointsDockWidget->widget(), SIGNAL(createWaypointAtMap(QPointF)), mapWidget, SLOT(createWaypointGraphAtMap(QPointF)));
         // it notifies that a waypoint global change its position by spinBox on Widget WaypointView
-        connect(waypointsDockWidget->widget(), SIGNAL(changePositionWPGlobalBySpinBox(int,float,float)), mapWidget, SLOT(changeGlobalWaypointPositionBySpinBox(int,float,float)));
+        //connect(waypointsDockWidget->widget(), SIGNAL(changePositionWPGlobalBySpinBox(int,float,float)), mapWidget, SLOT(changeGlobalWaypointPositionBySpinBox(int,float,float)));
     }
 }
 

src/ui/WaypointList.h

@@ -56,7 +56,7 @@ class WaypointList : public QWidget {
     virtual ~WaypointList();
 
 public slots:
-    void updateLocalPosition(UASInterface*, double x, double y, double z, quint64 usec);
+    void updatePosition(UASInterface*, double x, double y, double z, quint64 usec);
     void updateAttitude(UASInterface*, double roll, double pitch, double yaw, quint64 usec);
 
     void setUAS(UASInterface* uas);
@@ -77,7 +77,7 @@ public slots:
     /** @brief Add a waypoint by mouse click over the map */
     void addWaypointMouse(QPointF coordinate);
     /** @brief it notifies that a global waypoint goes to do created */
-    void setIsWPGlobal(bool value, QPointF centerCoordinate);
+    //void setIsWPGlobal(bool value, QPointF centerCoordinate);
 
 
     //Update events
@@ -93,9 +93,9 @@ public slots:
     /** @brief The MapWidget informs that a waypoint global was changed on the map */
     void waypointGlobalChanged(const QPointF coordinate, const int indexWP);
 
-    void clearLocalWPWidget();
+    void clearWPWidget();
 
-    void changeWPPositionBySpinBox(Waypoint* wp);
+    //void changeWPPositionBySpinBox(Waypoint* wp);
 
     // Waypoint operations
     void moveUp(Waypoint* wp);
@@ -109,7 +109,7 @@ signals:
   void clearPathclicked();
   void createWaypointAtMap(const QPointF coordinate);
  // void ChangeWaypointGlobalPosition(int index, QPointF coord);
-  void changePositionWPGlobalBySpinBox(int indexWP, float lat, float lon);
+  void changePositionWPBySpinBox(int indexWP, float lat, float lon);
 
 
 
@@ -118,15 +118,13 @@ protected:
 
 protected:
     QMap<Waypoint*, WaypointView*> wpViews;
-    QMap<Waypoint*, WaypointGlobalView*> wpGlobalViews;
+    //QMap<Waypoint*, WaypointGlobalView*> wpGlobalViews;
     QVBoxLayout* listLayout;
     UASInterface* uas;
     double mavX;
     double mavY;
     double mavZ;
     double mavYaw;
-    bool isGlobalWP;
-    bool isLocalWP;
     QPointF centerMapCoordinate;
 
 private:

src/ui/WaypointView.cc

@@ -46,16 +46,32 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
     m_ui->setupUi(this);
 
     this->wp = wp;
-    wp->setType(Waypoint::LOCAL);
-    m_ui->orbitSpinBox->setEnabled(false);
-    m_ui->orbitSpinBox->hide();
+    wp->setFrame(MAV_FRAME_LOCAL);
+
+    // add actions
+    m_ui->comboBox_action->addItem("Navigate",MAV_ACTION_NAVIGATE);
+    m_ui->comboBox_action->addItem("TakeOff",MAV_ACTION_TAKEOFF);
+    m_ui->comboBox_action->addItem("Land",MAV_ACTION_LAND);
+    m_ui->comboBox_action->addItem("Loiter",MAV_ACTION_LOITER);
+
+    // add frames 
+    m_ui->comboBox_frame->addItem("Global",MAV_FRAME_GLOBAL);
+    m_ui->comboBox_frame->addItem("Local",MAV_FRAME_LOCAL);
+
+    // defaults
+    changedAction(0);
+    changedFrame(0);
 
     // Read values and set user interface
     updateValues();
 
-    connect(m_ui->xSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
-    connect(m_ui->ySpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
-    connect(m_ui->zSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setZ(double)));
+    connect(m_ui->posNSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
+    connect(m_ui->posESpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
+    connect(m_ui->posDSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setZ(double)));
+
+    connect(m_ui->lonSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
+    connect(m_ui->latSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
+    connect(m_ui->altSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setZ(double)));
 
     //hidden degree to radian conversion of the yaw angle
     connect(m_ui->yawSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setYaw(int)));
@@ -67,9 +83,8 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
 
     connect(m_ui->autoContinue, SIGNAL(stateChanged(int)), this, SLOT(changedAutoContinue(int)));
     connect(m_ui->selectedBox, SIGNAL(stateChanged(int)), this, SLOT(changedCurrent(int)));
-    connect(m_ui->orbitCheckBox, SIGNAL(stateChanged(int)), this, SLOT(changeOrbitalState(int)));
-
-
+    connect(m_ui->comboBox_action, SIGNAL(activated(int)), this, SLOT(changedAction(int)));
+    connect(m_ui->comboBox_frame, SIGNAL(activated(int)), this, SLOT(changedFrame(int)));
 
     connect(m_ui->orbitSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setOrbit(double)));
     connect(m_ui->holdTimeSpinBox, SIGNAL(valueChanged(int)), wp, SLOT(setHoldTime(int)));
@@ -104,6 +119,72 @@ void WaypointView::changedAutoContinue(int state)
         wp->setAutocontinue(true);
 }
 
+void WaypointView::changedAction(int index)
+{
+    // set action for waypoint
+
+
+    // hide everything to start
+    m_ui->orbitSpinBox->hide();
+    m_ui->takeOffAngleSpinBox->hide();
+    m_ui->autoContinue->hide();
+    m_ui->holdTimeSpinBox->hide();
+
+    // set waypoint action
+    MAV_ACTION action = (MAV_ACTION)m_ui->comboBox_action->itemData(index).toUInt();
+    wp->setAction(action);
+
+    // expose ui based on action
+    switch(action)
+    {
+    case MAV_ACTION_TAKEOFF:
+        m_ui->takeOffAngleSpinBox->show();
+        break;
+    case MAV_ACTION_LAND:
+        break;
+    case MAV_ACTION_NAVIGATE:
+        m_ui->autoContinue->show();
+        break;
+    case MAV_ACTION_LOITER:
+        m_ui->orbitSpinBox->show();
+        m_ui->holdTimeSpinBox->show();
+        break;
+    default:
+        std::cerr << "unknown action" << std::endl;
+    }
+}
+
+void WaypointView::changedFrame(int index)
+{
+    // hide everything to start
+    m_ui->lonSpinBox->hide();
+    m_ui->latSpinBox->hide();
+    m_ui->altSpinBox->hide();
+    m_ui->posNSpinBox->hide();
+    m_ui->posESpinBox->hide();
+    m_ui->posDSpinBox->hide();
+
+    // set waypoint action
+    MAV_FRAME frame = (MAV_FRAME)m_ui->comboBox_frame->itemData(index).toUInt();
+    wp->setFrame(frame);
+
+    switch(frame)
+    {
+    case MAV_FRAME_GLOBAL:
+        m_ui->lonSpinBox->show();
+        m_ui->latSpinBox->show();
+        m_ui->altSpinBox->show();
+        break;
+    case MAV_FRAME_LOCAL:
+        m_ui->posNSpinBox->show();
+        m_ui->posESpinBox->show();
+        m_ui->posDSpinBox->show();
+        break;
+    default:
+        std::cerr << "unknown frame" << std::endl;
+    }
+}
+
 void WaypointView::changedCurrent(int state)
 {
     if (state == 0)
@@ -121,9 +202,41 @@ void WaypointView::changedCurrent(int state)
 
 void WaypointView::updateValues()
 {
-    m_ui->xSpinBox->setValue(wp->getX());
-    m_ui->ySpinBox->setValue(wp->getY());
-    m_ui->zSpinBox->setValue(wp->getZ());
+    // update frame
+    MAV_FRAME frame = wp->getFrame();
+    changedFrame(m_ui->comboBox_frame->findData(frame));
+    switch(frame)
+    {
+    case(MAV_FRAME_LOCAL):
+        m_ui->posNSpinBox->setValue(wp->getX());
+        m_ui->posESpinBox->setValue(wp->getY());
+        m_ui->posDSpinBox->setValue(wp->getZ());
+        break;
+    case(MAV_FRAME_GLOBAL):
+        m_ui->lonSpinBox->setValue(wp->getX());
+        m_ui->latSpinBox->setValue(wp->getY());
+        m_ui->altSpinBox->setValue(wp->getZ());
+        break;
+    }
+
+    // update action
+    MAV_ACTION action = wp->getAction();
+    changedFrame(m_ui->comboBox_frame->findData(frame));
+    changedAction(m_ui->comboBox_action->findData(action));
+    switch(action)
+    {
+    case MAV_ACTION_TAKEOFF:
+        break;
+    case MAV_ACTION_LAND:
+        break;
+    case MAV_ACTION_NAVIGATE:
+        break;
+    case MAV_ACTION_LOITER:
+        break;
+    default:
+        std::cerr << "unknown action" << std::endl;
+    }
+
     m_ui->yawSpinBox->setValue(wp->getYaw()/M_PI*180.);
     m_ui->selectedBox->setChecked(wp->getCurrent());
     m_ui->autoContinue->setChecked(wp->getAutoContinue());
@@ -159,21 +272,3 @@ void WaypointView::changeEvent(QEvent *e)
         break;
     }
 }
-
-void WaypointView::changeOrbitalState(int state)
-{
-    Q_UNUSED(state);
-
-    if(m_ui->orbitCheckBox->isChecked())
-    {
-        m_ui->orbitSpinBox->setEnabled(true);
-        m_ui->orbitSpinBox->show();
-        wp->setType(Waypoint::LOCAL_ORBIT);
-    }
-    else
-    {
-        m_ui->orbitSpinBox->setEnabled(false);
-        m_ui->orbitSpinBox->hide();
-        wp->setType(Waypoint::LOCAL);
-    }
-}

src/ui/WaypointView.h

@@ -36,6 +36,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include <QtGui/QWidget>
 #include "Waypoint.h"
+#include <iostream>
 
 namespace Ui {
     class WaypointView;
@@ -56,7 +57,8 @@ public slots:
     void moveDown();
     void remove();
     void changedAutoContinue(int);
-    void changeOrbitalState(int state);
+    void changedFrame(int state);
+    void changedAction(int state);
     void changedCurrent(int);
     void updateValues(void);